#include "ros/ros.h"
   #include "beginner_tutorials/AddTwoInts.h"
  
   bool add(beginner_tutorials::AddTwoInts::Request  &req,
            beginner_tutorials::AddTwoInts::Response &res)
   {
     res.sum = req.a + req.b;
     ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
     ROS_INFO("sending back response: [%ld]", (long int)res.sum);
     return true;
   }
  
   int main(int argc, char **argv)
   {
     ros::init(argc, argv, "add_two_ints_server");
     ros::NodeHandle n;
  
     ros::ServiceServer service = n.advertiseService("add_two_ints", add);
     ROS_INFO("Ready to add two ints.");
     ros::spin();
  
     return 0;
   }
